Diff: RM3100MagDriver.cpp

Revision:

0:6ddf88b49483

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RM3100MagDriver.cpp	Thu Oct 26 18:40:57 2017 +0000
@@ -0,0 +1,238 @@
+/**
+* @file        RM3100MagDriver.cpp
+*
+* @brief       Sensor driver for RM3100 magnetometer.
+* @authors     Betty Zhang, Daniel Delsuc
+* @date        03/03/2017
+* @copyright   (C) 2017 PNI Corp
+*
+* @copyright   This sample code is provided "as is" without express or implied warranty.
+*
+*/
+
+#include "main.h"
+#include "RM3100MagDriver.h"
+
+/*****************************/
+/*        Static variables   */
+/*****************************/
+static unsigned short int           mSampleRate;
+static SensorPowerMode              mSensorMode;
+static char                         mSamples[9];
+
+/*****************************/
+/*        Functions          */
+/*****************************/
+/**
+ * @fn SensorStatus mag_enable_interrupts();
+ *
+ * @brief Enables the interrupt request from the sensor.
+ *
+ * @returns Status of the sensor. Not supported in AKM8975
+ */
+SensorStatus mag_enable_interrupts()
+{
+    static char data[] = { RM3100_ENABLED };
+
+    if (mSensorMode == SensorPowerModeActive) 
+    {
+        rm3100_i2c_write(RM3100_BEACON_REG, data, sizeof(data)/sizeof(char));
+    }
+    return SensorOK;
+}
+
+/**
+ * @fn SensorStatus mag_disable_interrupts();
+ *
+ * @brief Disables the interrupt request from the sensor.
+ *
+ * @returns Status of the sensor.
+ */
+SensorStatus mag_disable_interrupts()
+{
+    static char data[] = { RM3100_DISABLED };
+    rm3100_i2c_write(RM3100_BEACON_REG, data, sizeof(data)/sizeof(char));
+    return SensorOK;
+}
+
+/**
+ * @fn SensorMode mag_set_power_mode(SensorPowerMode mode);
+ *
+ * @brief If possible, sets the sensor to the requested power mode. 
+ *  *
+ * @param mode  The requested sensor mode.
+ * @returns     The actual state the sensor was set to.
+ */
+SensorPowerMode mag_set_power_mode(SensorPowerMode mode)
+{
+    switch(mode)
+    {
+        default:
+            return mSensorMode;
+            
+        case SensorPowerModePowerDown:
+        case SensorPowerModeSuspend:
+            mSensorMode = mode;
+            mag_disable_interrupts();
+            break;
+
+        case SensorPowerModeActive:
+            mSensorMode = SensorPowerModeActive;
+            mag_enable_interrupts();
+            break;
+    }
+
+    return mSensorMode;
+}
+
+/**
+ * @fn SensorStatus mag_initialize_sensor();
+ *
+ * @brief Initializes the sensor into a known state.
+ *
+ * @retval SensorOK                         The sensor has already been initialized
+ * @retval SensorErrorUnexpectedDevice      The sensor did not return expected results.
+ * @retval SensorUnknownError               An unknown error has occured.
+ */
+SensorStatus mag_initialize_sensor()
+{
+    char i2cbuffer[2];
+    char settings[7];
+     
+    if(rm3100_i2c_read(RM3100_LROSCADJ_REG, i2cbuffer, 2) != SensorOK)
+    {
+        return SensorErrorNonExistant;
+    }
+
+    if (    (i2cbuffer[0] != RM3100_LROSCADJ_VALUE) ||
+            (i2cbuffer[1] != RM3100_SLPOSCADJ_VALUE))
+    {
+        return SensorErrorUnexpectedDevice;
+    }
+
+    /* Zero buffer content */
+    i2cbuffer[0]=0; 
+    i2cbuffer[1]=0;
+    
+    /* Clears MAG and BEACON register and any pending measurement */
+    rm3100_i2c_write(RM3100_MAG_REG, i2cbuffer, 2);
+    
+    /* Initialize settings */
+    settings[0]=CCP1; /* CCPX1 */
+    settings[1]=CCP0; /* CCPX0 */
+    settings[2]=CCP1; /* CCPY1 */
+    settings[3]=CCP0; /* CCPY0 */
+    settings[4]=CCP1; /* CCPZ1 */
+    settings[5]=CCP0; /* CCPZ0 */
+    settings[6]=NOS;
+    /* settings[7]=TMRC;  */
+    
+    /*  Write register settings */
+    rm3100_i2c_write(RM3100_CCPX1_REG, settings, 7);
+    
+    mag_set_power_mode(SensorPowerModePowerDown);
+        
+    return SensorOK;
+}
+
+/**
+ * @fn SensorMode mag_get_power_mode();
+ *
+ * @brief Used to determine the current power mode of the sensor.
+ *
+ * @returns The current power mode of the sensor.
+ */
+SensorPowerMode mag_get_power_mode()
+{
+    return mSensorMode;
+}
+
+/**
+ * @fn unsigned short int mag_set_sample_rate(unsigned short int sample_rate);
+ *
+ * @brief Requests the hardware to perform sample conversions at the specified rate.
+ *
+ * @param sample_rate The requested sample rate of the sensor in Hz.
+ *
+ * @returns The actual sample rate of the sensor.
+ */
+unsigned short mag_set_sample_rate(unsigned short sample_rate)
+{
+    int i;
+    static char i2cbuffer[1];
+    const unsigned short int supported_rates[][2] = \
+    {
+        /* [Hz], register value */
+        {   2, 0x0A},   // up to 2Hz
+        {   4, 0x09},   // up to 4Hz
+        {   8, 0x08},   // up to 8Hz
+        {  16, 0x07},   // up to 16Hz
+        {  31, 0x06},   // up to 31Hz
+        {  62, 0x05},   // up to 62Hz
+        {  125, 0x04},  // up to 125Hz
+        {  220, 0x03}   // up to 250Hz
+        };
+        
+    for(i = 0; i < sizeof(supported_rates)/(sizeof(unsigned short int)*2) - 1; i++)
+    {
+        if(sample_rate <= supported_rates[i][0]) break;
+    }
+            
+    if (mSensorMode == SensorPowerModeActive) 
+    {
+        mag_disable_interrupts();
+    }
+    
+    mSampleRate = supported_rates[i][0];
+    i2cbuffer[0]= (char)supported_rates[i][1];
+  
+    rm3100_i2c_write(RM3100_TMRC_REG, i2cbuffer, 1);
+    
+    if (mSensorMode == SensorPowerModeActive) 
+    {
+        mag_enable_interrupts();
+    }
+
+    return mSampleRate;
+
+}
+
+/**
+ * @fn unsigned short int mag_get_sample_rate();
+ *
+ * @brief Retrieves the mset sample rate of the sensor.
+ *
+ * @returns The actual sample rate of the sensor.
+ */
+unsigned short mag_get_sample_rate()
+{
+    return mSampleRate;
+}
+
+/**
+ * @fn SensorStatus mag_get_sample_data(signed int *x, signed int *y, signed int *z);
+ *
+ * @brief Initiates an i2c read of the RM3100's sensor result registers.
+ * @Each sensor reading consists of 3 bytes of data which are stored in 2’s
+ * @complement format (range: -8388608 to 8388607) in the Results Registers
+ *
+ * @output: 3-axis Sensor data in Count 
+ * 
+ */
+void mag_get_sample_data(int * XYZ)
+{
+    // read out sensor data
+    rm3100_i2c_read(RM3100_QX2_REG, (char*)&mSamples, sizeof(mSamples)/sizeof(char));
+    
+    XYZ[0] = ((signed char)mSamples[0]) * 256 * 256;
+    XYZ[0] |= mSamples[1] * 256;
+    XYZ[0] |= mSamples[2];
+
+    XYZ[1] = ((signed char)mSamples[3]) * 256 * 256;
+    XYZ[1] |= mSamples[4] * 256;
+    XYZ[1] |= mSamples[5];
+
+    XYZ[2] = ((signed char)mSamples[6]) * 256 * 256;
+    XYZ[2] |= mSamples[7] * 256;
+    XYZ[2] |= mSamples[8];
+}
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